version: 66.06
glider: 108
mission: 14
dive: 23
start: 6 11 110 9 53 22
data:
$ID,108
$MISSION,14
$DIVE,23
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-179267.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,-40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,094715,6710.642,-5700.798,8,2.2,27,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-75.5
$GPS2,095304,6710.640,-5700.731,12,2.2,31,-37.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_tst
$TGT_LATLONG,6700.000,-5702.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,220.5,19727,-18.1,-10.000
$D_GRID,427
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,91,0.00,0.00,-70.12,0.000,2,0.000,0.000,341,2239,3359,0,0,0,0,0,0
$GC,94,-0.78,-146.1,3.3,-3.1,14,121,10.40,2.28,-7.85,0.000,4,0.248,0.071,2942,841,3659,0,0,0,0,0,0
$GC,426,-0.78,-146.1,40.0,-9.6,73,431,0.00,2.28,0.00,0.000,6,0.000,0.059,2934,2248,3663,0,0,0,0,0,0
$GC,769,-0.78,-146.1,72.8,-9.9,134,775,0.00,2.22,0.00,0.000,4,0.000,0.056,2934,843,3663,0,0,0,0,0,0
$GC,1078,-0.78,-146.1,101.1,-8.3,188,1084,0.10,2.25,0.00,0.000,6,0.168,0.059,2951,2251,3663,0,0,0,0,0,0
$GC,1403,-0.78,-146.1,124.2,-7.4,219,1407,0.00,2.20,0.00,0.000,4,0.000,0.056,2951,837,3662,0,0,0,0,0,0
$GC,1714,-0.78,-146.1,149.9,-8.2,246,1718,0.00,2.22,0.00,0.000,6,0.000,0.059,2944,2251,3662,0,0,0,0,0,0
$GC,2039,-0.78,-146.1,178.6,-9.2,276,2043,0.00,2.20,0.00,0.000,4,0.000,0.055,2943,843,3662,0,0,0,0,0,0
$GC,2348,-0.78,-146.1,204.7,-7.8,303,2353,0.00,2.25,0.00,0.000,6,0.000,0.059,2934,2265,3662,0,0,0,0,0,0
$GC,2673,-0.78,-146.1,229.6,-7.9,333,2677,0.00,2.22,0.00,0.000,4,0.000,0.055,2934,836,3662,0,0,0,0,0,0
$GC,2983,-0.78,-146.1,254.7,-7.8,360,2988,0.10,2.25,0.00,0.000,6,0.167,0.059,2951,2260,3661,0,0,0,0,0,0
$GC,3309,-0.78,-146.1,276.9,-7.1,390,3313,0.00,2.20,0.00,0.000,4,0.000,0.055,2951,844,3661,0,0,0,0,0,0
$GC,3623,-0.78,-146.1,300.0,-7.2,417,3627,0.00,2.20,0.00,0.000,6,0.000,0.058,2945,2254,3661,0,0,0,0,0,0
$GC,3948,-0.78,-146.1,321.5,-6.0,447,3952,0.00,2.17,0.00,0.000,4,0.000,0.054,2945,840,3661,0,0,0,0,0,0
$GC,4256,-0.78,-146.1,342.4,-6.7,474,4262,0.00,2.22,0.00,0.000,6,0.000,0.058,2935,2259,3662,0,0,0,0,0,0
$GC,4582,-0.78,-146.1,363.3,-6.1,505,4586,0.00,2.20,0.00,0.000,4,0.000,0.054,2936,836,3662,0,0,0,0,0,0
$GC,4891,-0.78,-146.1,384.9,-7.2,532,4895,0.10,2.22,0.00,0.000,6,0.161,0.058,2954,2262,3662,0,0,0,0,0,0
$STATE,4974,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4974,begin apogee
$GC,4981,-0.17,0.0,389.9,5.3,540,5107,0.35,0.00,118.32,1.078,6,0.117,0.000,3078,2144,3058,0,0,0,0,0,0
$STATE,5107,end apogee,CONTROL_FINISHED_OK
$STATE,5108,begin climb
$GC,5110,0.78,146.1,392.0,0.0,553,5239,0.62,2.42,118.85,1.018,4,0.082,0.064,3294,3561,2462,0,0,0,0,0,0
$GC,5544,0.78,146.1,342.2,13.7,592,5548,0.00,2.22,0.00,0.000,6,0.000,0.046,3304,2154,2456,0,0,0,0,0,0
$GC,5874,0.78,146.1,303.1,11.7,623,5878,0.00,2.28,0.00,0.000,4,0.000,0.064,3304,3566,2457,0,0,0,0,0,0
$GC,6183,0.78,146.1,261.0,13.7,650,6187,0.10,2.20,0.00,0.000,6,0.185,0.047,3290,2148,2457,0,0,0,0,0,0
$GC,6508,0.79,148.4,227.8,9.9,680,6512,0.00,2.25,0.00,0.000,4,0.000,0.065,3290,3562,2458,0,0,0,0,0,0
$GC,6816,0.79,148.4,192.3,11.6,707,6821,0.00,2.17,0.00,0.000,6,0.000,0.047,3297,2141,2458,0,0,0,0,0,0
$GC,7141,0.79,156.1,160.4,9.6,738,7155,0.00,2.33,8.88,0.832,4,0.000,0.065,3297,3565,2421,0,0,0,0,0,0
$GC,7459,0.79,156.1,124.5,11.1,766,7464,0.00,2.17,0.00,0.000,6,0.000,0.047,3307,2147,2419,0,0,0,0,0,0
$GC,7787,0.79,156.1,92.0,10.3,804,7793,0.00,2.25,0.00,0.000,4,0.000,0.066,3307,3565,2419,0,0,0,0,0,0
$GC,8098,0.79,156.1,56.5,11.3,859,8105,0.08,2.17,0.00,0.000,6,0.196,0.048,3293,2145,2419,0,0,0,0,0,0
$GC,8442,0.86,206.1,28.6,7.7,920,8489,0.00,2.33,39.83,0.874,4,0.000,0.066,3293,3562,2216,0,0,0,0,0,0
$FREEZE,8.90,1.973,-1.828,0,1,0
$FREEZE,8.46,1.956,-1.827,0,1,0
$FREEZE,7.91,1.947,-1.826,0,1,0
$FREEZE,7.48,1.931,-1.825,0,1,0
$FREEZE,6.91,1.937,-1.823,0,1,0
$FREEZE,6.45,1.938,-1.823,0,1,0
$FREEZE,6.02,1.940,-1.822,0,1,0
$FREEZE,5.65,1.941,-1.821,0,1,0
$FREEZE,5.13,1.941,-1.820,0,1,0
$FREEZE,4.66,1.942,-1.820,0,1,0
$FREEZE,4.22,1.940,-1.819,0,1,0
$FREEZE,3.74,1.940,-1.819,0,1,0
$FREEZE,3.27,1.942,-1.819,0,1,0
$FREEZE,2.87,1.941,-1.818,0,1,0
$STATE,8740,end climb,SURFACE_DEPTH_REACHED
$STATE,8740,begin surface coast
$FREEZE,2.28,1.941,-1.818,0,1,0
$FREEZE,1.80,1.941,-1.817,0,1,0
$FREEZE,1.29,1.943,-1.817,0,1,0
$FREEZE,1.18,1.931,-0.958,0,1,0
$FREEZE,1.25,1.915,-1.818,0,1,0
$FREEZE,1.12,1.912,-1.818,0,1,0
$FREEZE,1.17,1.892,-1.820,0,1,0
$FINISH,1.2,1.026535
$STATE,8780,end surface coast,CONTROL_FINISHED_OK
$STATE,8780,begin surface
$SM_CCo,8801,73.75,0.834,0,0,1834,300.00
$SM_GC,2.24,0.00,0.00,73.75,0.000,0.000,0.834,340,2236,1834,-12.79,-0.40,300.00
$RAFOS_CLK,323
$RAFOS,1,1276258144,12.166667,12.151111,43,42,41,41,40,40,1630,963,1622,1703,1,545
$RAFOS,0,1276257666,12.033333,12.018333,46,44,43,42,41,41,1756,48,685,1306,386,924
$RAFOS_FIX,6713.756348,-5705.205566,110610,080840,2,86,1.26
$IRIDIUM_FIX,6641.98,-5658.57,050999,070757
$TT8_MAMPS,0.029913
$HUMID,38.93
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,350.4,54.1
$24V_AH,23.7,5.649
$10V_AH,10.4,2.706
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.775,62.675,285.875,73.750,0.000,26.459,34.420,138.374,1.250,0.000,33.447,1662.018,4832.494,420.235,1877.709,426.976,0.000,1342.057,0.000,1831.005,1080.000,11.614,0.000
$DEVICE_MAMPS,247.741,75.933,1077.635,833.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.720,670.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142820
$DATA_FILE_SIZE,37801,981
$CAP_FILE_SIZE,103322,0
$CFSIZE,260165632,247250944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$GPS,110610,122237,6711.209,-5700.560,29,1.1,29,-37.8